"""
Capstone Team Project. Code to run on a ROBOT (NOT a laptop).
This module is for testing STAND-ALONE code running on the ROBOT
(WITHOUT having LAPTOP GUI code running on the LAPTOP at the same time).
Authors: Your professors (for the framework)
and PUT_YOUR_NAME_HERE.
Winter term, 2019-2020.
"""
# TODO: 1. Put your name in the above.
import rosebot
import time
def main():
""" Calls the desired TEST functions. """
run_test_drive_system()
def run_test_drive_system():
""" Test a robot's DRIVE SYSTEM. """
print()
print('--------------------------------------------------')
print('Testing the DRIVE SYSTEM of a robot')
print('--------------------------------------------------')
# -------------------------------------------------------------------------
# TODO: 2. Construct a robot, that is, a rosebot.RoseBot() object.
# -------------------------------------------------------------------------
robot = rosebot.RoseBot()
# -------------------------------------------------------------------------
# STUDENTS: Do the work in this module as follows.
# Otherwise, you will be overwhelmed by the number of tests happening.
#
# For each function that you implement:
# 1. Locate the statements just below this comment that call TEST functions.
# 2. UN-comment only one test at a time.
# 3. Implement that function per its _TODO_.
# 4. Implement as needed the appropriate class methods
# 5. When satisfied with your work, move onto the next test,
# RE-commenting out the previous test to reduce the testing.
# -------------------------------------------------------------------------
# run_test_go_stop(robot)
# run_test_go_straight_for_seconds(robot)
# run_test_go_straight_for_inches(robot)
# run_test_spin_in_place_for_seconds(robot)
# run_test_spin_in_place_for_degrees(robot)
# run_test_turn_for_seconds(robot)
# run_test_turn_for_degrees(robot)
run_test_draw_polygon(robot)
def run_test_go_stop(robot):
"""
Tests the go and stop methods of the DriveSystem class.
"""
print('--------------------------------------------------')
print('Testing the go and stop methods of a robot')
print('--------------------------------------------------')
# -------------------------------------------------------------------------
# Get the wheel speeds for this set of tests.
# -------------------------------------------------------------------------
while True:
print("Wheel speeds should be integers between -100 and 100.")
left_wheel_speed = int(input("Enter an integer for left wheel speed: "))
right_wheel_speed = int(input("Enter an integer for right wheel speed: "))
if left_wheel_speed == 0 and right_wheel_speed == 0:
break
print()
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 3. Call the go method of the drive_system of the robot,
# sending it the two wheel speeds. Keep going (time.sleep) for 3 seconds.
# Then call the stop method of the drive_system of the robot.
# -------------------------------------------------------------------------
# Solution to be removed
robot.drive_system.go(left_wheel_speed, right_wheel_speed)
time.sleep(3)
robot.drive_system.stop()
def run_test_go_straight_for_seconds(robot):
"""
Tests the go_straight_for_seconds method of the DriveSystem class.
"""
print('--------------------------------------------------')
print('Testing the go_straight_for_seconds method of a robot')
print('--------------------------------------------------')
while True:
print()
speed = int(input("Enter an integer for wheel speed: "))
if speed == 0:
break
seconds = float(input("Enter how many seconds to go (e.g., 2.3): "))
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 4. Call the go_straight_for_seconds method of the drive_system
# of the robot, sending it the input seconds and speed.
# -------------------------------------------------------------------------
# Solution to be removed
robot.drive_system.go_straight_for_seconds(seconds, speed)
def run_test_go_straight_for_inches(robot):
"""
Tests the go_straight_for_inches method of the DriveSystem class.
"""
print('--------------------------------------------------')
print('Testing the go_straight_for_inches method of a robot')
print('--------------------------------------------------')
while True:
print()
speed = int(input("Enter an integer for wheel speed: "))
if speed == 0:
break
inches = float(input("Enter how many inches to go (e.g., 12.4): "))
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 5. Call the go_straight_for_inches method of the drive_system
# of the robot, sending it the input inches and speed.
# (The go_straight_for_inches method uses the same speed for both wheels.)
# -------------------------------------------------------------------------
# Solution to be removed
robot.drive_system.go_straight_for_inches(inches, speed)
def run_test_spin_in_place_for_seconds(robot):
"""
Tests the spin_in_place_for_seconds method of the DriveSystem class.
"""
print('--------------------------------------------------')
print('Testing the spin_in_place_for_seconds method of a robot')
print('--------------------------------------------------')
while True:
print()
speed = int(input("Enter an integer for wheel speed: "))
if speed == 0:
break
seconds = float(input("Enter how many seconds to go (e.g., 2.3): "))
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 6. Call the spin_in_place_for_seconds method of the drive_system
# of the robot, sending it the input seconds and speed.
# (The go_straight_for_inches method uses the same speed for both wheels.)
# -------------------------------------------------------------------------
# Solution to be removed
robot.drive_system.spin_in_place_for_seconds(seconds, speed)
def run_test_spin_in_place_for_degrees(robot):
"""
Tests the spin_in_place_for_degrees method of the DriveSystem class.
"""
print('--------------------------------------------------')
print('Testing the spin_in_place_for_degrees method of a robot')
print('--------------------------------------------------')
while True:
print()
speed = int(input("Enter an integer for wheel speed: "))
if speed == 0:
break
degrees = float(input("Enter how many degrees to go (e.g., 360): "))
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 7. Call the spin_in_place_for_degrees method of the drive_system
# of the robot, sending it the input degrees and speed.
# -------------------------------------------------------------------------
# Solution to be removed
robot.drive_system.spin_in_place_for_degrees(degrees, speed)
def run_test_turn_for_seconds(robot):
"""
Tests the turn_for_seconds method of the DriveSystem class.
"""
print('--------------------------------------------------')
print('Testing the turn_for_seconds method of a robot')
print('--------------------------------------------------')
while True:
print()
speed = int(input("Enter an integer for wheel speed: "))
if speed == 0:
break
seconds = float(input("Enter how many seconds to go (e.g., 2.3): "))
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 8. Call the turn_for_seconds method of the drive_system
# of the robot, sending it the input degrees and seconds.
# -------------------------------------------------------------------------
# Solution to be removed
robot.drive_system.turn_for_seconds(seconds, speed)
def run_test_turn_for_degrees(robot):
"""
Tests the turn_for_degrees method of the DriveSystem class.
"""
print('--------------------------------------------------')
print('Testing the turn_for_degrees method of a robot')
print('--------------------------------------------------')
while True:
print()
speed = int(input("Enter an integer for wheel speed: "))
if speed == 0:
break
degrees = float(input("Enter how many degrees to go (e.g., 360): "))
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 9. Call the turn_for_degrees method of the drive_system
# of the robot, sending it the input degrees and speed.
# -------------------------------------------------------------------------
# Solution to be removed
robot.drive_system.turn_for_degrees(degrees, speed)
def run_test_draw_polygon(robot):
"""
Uses the methods turn_for_degrees and go_straight_for_inches of the DriveSystem
to create a small program. This program will ask the user for how many sides they
would like in their polygon, the length of each side, and a speed.
Then your robot will drive that polygon shape.
"""
print('--------------------------------------------------')
print(' Draw Polygon ')
print('--------------------------------------------------')
while True:
print()
speed = int(input("Enter an integer for wheel speed: "))
if speed == 0:
break
sides = int(input("Number of sides (e.g., 6): "))
# Try a negative value for Number of sides to drive CW around the polygon.
if sides == 0:
break
degrees = 360 / sides
inches = int(input("Length of each edge in inches (e.g., 8): "))
if inches == 0:
break
input("Press the ENTER key when ready for the robot to start moving.")
# -------------------------------------------------------------------------
# TODO: 10. Use a loop and call the turn_for_degrees and go_straight_for_inches
# methods of the drive_system as needed to draw the polygon,
# sending the inputs degrees and speed or inches and speed as appropriate.
# -------------------------------------------------------------------------
# Solution to be removed
for _ in range(sides):
robot.drive_system.go_straight_for_inches(inches, speed)
robot.drive_system.turn_for_degrees(degrees, speed)
main()